Motion Control of Parallel Manipulators Using Acceleration Feedback

Acceleration feedback (AF) is applied to restrain the trajectory disturbances in the motion control of parallel manipulators to increase the trajectory tracking accuracy. A dynamic model is formulated in the task space, and the optimal exciting trajectory is calculated for dynamic identification. Th...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on control systems technology Vol. 22; no. 1; pp. 314 - 321
Main Authors Shang, Weiwei, Cong, Shuang
Format Journal Article
LanguageEnglish
Published IEEE 01.01.2014
Subjects
Acceleration
Acceleration feedback (AF)
dynamic acceleration feedback (DAF)
Friction
Joints
Manipulator dynamics
Mathematical model
motion control
parallel manipulator
robust control
Trajectory
Online AccessGet full text

Cover

More Information
Summary:Acceleration feedback (AF) is applied to restrain the trajectory disturbances in the motion control of parallel manipulators to increase the trajectory tracking accuracy. A dynamic model is formulated in the task space, and the optimal exciting trajectory is calculated for dynamic identification. The acceleration signals can be estimated without acceleration sensors on the basis of the closed-loop constraint equations. Furthermore, the dynamic acceleration feedback (DAF) controller is developed by introducing the AF into the robust dynamics compensation and trajectory tracking, and the stability of the closed-loop system is proven. The DAF controller is implemented on a planar parallel manipulator platform, and the corresponding experimental results are compared with an existing, robust controller.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2013.2243149